EP3987249A4 - Navigationsroutenplanungsverfahren für autonome fahrzeuge - Google Patents

Navigationsroutenplanungsverfahren für autonome fahrzeuge Download PDF

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Publication number
EP3987249A4
EP3987249A4 EP20927100.6A EP20927100A EP3987249A4 EP 3987249 A4 EP3987249 A4 EP 3987249A4 EP 20927100 A EP20927100 A EP 20927100A EP 3987249 A4 EP3987249 A4 EP 3987249A4
Authority
EP
European Patent Office
Prior art keywords
autonomous vehicles
route planning
planning method
navigation route
navigation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP20927100.6A
Other languages
English (en)
French (fr)
Other versions
EP3987249B1 (de
EP3987249A1 (de
Inventor
Ning Yu
Fan ZHU
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Baidu com Times Technology Beijing Co Ltd
Baidu USA LLC
Original Assignee
Baidu com Times Technology Beijing Co Ltd
Baidu USA LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Baidu com Times Technology Beijing Co Ltd, Baidu USA LLC filed Critical Baidu com Times Technology Beijing Co Ltd
Publication of EP3987249A1 publication Critical patent/EP3987249A1/de
Publication of EP3987249A4 publication Critical patent/EP3987249A4/de
Application granted granted Critical
Publication of EP3987249B1 publication Critical patent/EP3987249B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18154—Approaching an intersection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3484—Personalized, e.g. from learned user behaviour or user-defined profiles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3658—Lane guidance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/201—Dimensions of vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/10—Number of lanes

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Social Psychology (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
EP20927100.6A 2020-03-26 2020-03-26 Navigationsroutenplanungsverfahren für autonome fahrzeuge Active EP3987249B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/081474 WO2021189374A1 (en) 2020-03-26 2020-03-26 A navigation route planning method for autonomous vehicles

Publications (3)

Publication Number Publication Date
EP3987249A1 EP3987249A1 (de) 2022-04-27
EP3987249A4 true EP3987249A4 (de) 2022-08-03
EP3987249B1 EP3987249B1 (de) 2023-11-01

Family

ID=77889839

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20927100.6A Active EP3987249B1 (de) 2020-03-26 2020-03-26 Navigationsroutenplanungsverfahren für autonome fahrzeuge

Country Status (4)

Country Link
US (1) US11945463B2 (de)
EP (1) EP3987249B1 (de)
CN (1) CN113728212B (de)
WO (1) WO2021189374A1 (de)

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US11975742B2 (en) * 2021-05-25 2024-05-07 Ford Global Technologies, Llc Trajectory consistency measurement for autonomous vehicle operation
US20230347923A1 (en) * 2022-04-27 2023-11-02 Tmrw Foundation Ip S. À R.L. Location-based autonomous navigation using a virtual world system
CN115050210B (zh) * 2022-06-07 2023-10-20 杭州市城市大脑停车系统运营股份有限公司 基于时序预测的停车场智能诱导方法、系统及装置
CN115046566B (zh) * 2022-08-11 2022-10-28 智道网联科技(北京)有限公司 长距离导航的路径规划方法、设备和计算机可读存储介质

Citations (3)

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US20150185026A1 (en) * 2013-08-27 2015-07-02 Google Inc. Generating a sequence of lane-specific driving directions
US20160341561A1 (en) * 2015-05-20 2016-11-24 Uber Technologies, Inc. Navigation lane guidance
WO2019198481A1 (ja) * 2018-04-13 2019-10-17 日立オートモティブシステムズ株式会社 推奨レーン判定装置

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WO2017123234A1 (en) * 2016-01-14 2017-07-20 Ford Global Technologies, Llc Routing with u-turn inhibition
CN106017491B (zh) * 2016-05-04 2019-08-02 玉环看知信息科技有限公司 一种导航路径规划方法、系统及导航服务器
KR101916527B1 (ko) * 2016-10-12 2018-11-07 국방과학연구소 무인차량의 자율주행 제어 방법
US10710603B2 (en) * 2016-10-19 2020-07-14 Here Global B.V. Segment activity planning based on route characteristics
US10515321B2 (en) 2017-09-11 2019-12-24 Baidu Usa Llc Cost based path planning for autonomous driving vehicles
US10496098B2 (en) 2017-09-12 2019-12-03 Baidu Usa Llc Road segment-based routing guidance system for autonomous driving vehicles
WO2019051834A1 (en) * 2017-09-18 2019-03-21 Baidu.Com Times Technology (Beijing) Co., Ltd. DRIVING GUIDELINES BASED ON DRIVING SCENARIOS FOR PLANNING SELF-CONTAINED VEHICLE TRACKS
US11243532B1 (en) * 2017-09-27 2022-02-08 Apple Inc. Evaluating varying-sized action spaces using reinforcement learning
US10890459B2 (en) * 2017-10-13 2021-01-12 John Matsumura Systems and methods for variable energy routing and tracking
CN107817000B (zh) 2017-10-25 2020-09-08 广州汽车集团股份有限公司 无人驾驶车辆的路径规划方法、装置及计算机设备
CN107843267B (zh) 2017-10-25 2020-04-17 广州汽车集团股份有限公司 施工路段无人驾驶车辆的路径生成方法及装置
CN110196056B (zh) * 2018-03-29 2023-12-05 文远知行有限公司 用于生成用于自动驾驶车辆导航和决策的道路地图的方法和导航装置
DE102018109883A1 (de) * 2018-04-24 2018-12-20 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zum kooperativen Abstimmen von zukünftigen Fahrmanövern eines Fahrzeugs mit Fremdmanövern zumindest eines Fremdfahrzeugs
US11231280B2 (en) * 2018-07-06 2022-01-25 Inrix Inc. Probabilistic parking routes
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CN110657818B (zh) * 2019-10-17 2024-04-09 北京百度网讯科技有限公司 自动驾驶车辆的路径规划方法、装置、设备及存储介质

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150185026A1 (en) * 2013-08-27 2015-07-02 Google Inc. Generating a sequence of lane-specific driving directions
US20160341561A1 (en) * 2015-05-20 2016-11-24 Uber Technologies, Inc. Navigation lane guidance
WO2019198481A1 (ja) * 2018-04-13 2019-10-17 日立オートモティブシステムズ株式会社 推奨レーン判定装置
US20210148725A1 (en) * 2018-04-13 2021-05-20 Hitachi Automotive Systems, Ltd. Recommended lane determination device

Also Published As

Publication number Publication date
WO2021189374A1 (en) 2021-09-30
CN113728212B (zh) 2024-05-28
US20220297718A1 (en) 2022-09-22
CN113728212A (zh) 2021-11-30
EP3987249B1 (de) 2023-11-01
EP3987249A1 (de) 2022-04-27
US11945463B2 (en) 2024-04-02

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